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<div class="title">moment_of_inertia_estimation.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Author : Sergey Ushakov</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Email  : sergey.s.ushakov@mail.ru</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_MOMENT_OF_INERTIA_ESTIMATION_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_MOMENT_OF_INERTIA_ESTIMATION_HPP_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/features/moment_of_inertia_estimation.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#ab15683239a2e14b2f230782b0db1a8d1">   47</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#ab15683239a2e14b2f230782b0db1a8d1">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::MomentOfInertiaEstimation</a> () :</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  is_valid_ (false),</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  step_ (10.0f),</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  point_mass_ (0.0001f),</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  normalize_ (true),</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  mean_value_ (0.0f, 0.0f, 0.0f),</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  major_axis_ (0.0f, 0.0f, 0.0f),</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  middle_axis_ (0.0f, 0.0f, 0.0f),</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  minor_axis_ (0.0f, 0.0f, 0.0f),</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  major_value_ (0.0f),</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  middle_value_ (0.0f),</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  minor_value_ (0.0f),</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  moment_of_inertia_ (),</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  eccentricity_ (),</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  aabb_min_point_ (),</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  aabb_max_point_ (),</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  obb_min_point_ (),</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  obb_max_point_ (),</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  obb_position_ (0.0f, 0.0f, 0.0f),</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  obb_rotational_matrix_ ()</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a79cd4a694ed5c338a9b182d2d821e695">   72</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a79cd4a694ed5c338a9b182d2d821e695">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::~MomentOfInertiaEstimation</a> ()</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;{</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  moment_of_inertia_.clear ();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  eccentricity_.clear ();</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;}</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#aac2fd81cbf6eb02d5f1e1f462d640c6c">   80</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aac2fd81cbf6eb02d5f1e1f462d640c6c">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::setAngleStep</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> step)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;{</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">if</span> (step &lt;= 0.0f)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  step_ = step;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  is_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;}</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a0625af4e2c78edf76dda829dcea53ff5">   92</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a0625af4e2c78edf76dda829dcea53ff5">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::getAngleStep</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">return</span> (step_);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#aa9149b19d2ffaac9926db2d0f48cff30">   99</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aa9149b19d2ffaac9926db2d0f48cff30">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::setNormalizePointMassFlag</a> (<span class="keywordtype">bool</span> need_to_normalize)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;{</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  normalize_ = need_to_normalize;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  is_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;}</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a9d824622d848378fe608c2a0563f07ad">  108</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a9d824622d848378fe608c2a0563f07ad">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::getNormalizePointMassFlag</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">return</span> (normalize_);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;}</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#aaa915646af4de7b704bd227c3374f0b3">  115</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aaa915646af4de7b704bd227c3374f0b3">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::setPointMass</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> point_mass)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;{</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordflow">if</span> (point_mass &lt;= 0.0f)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  point_mass_ = point_mass;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  is_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;}</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a66a194f783bd25e9a3b27caa260609bb">  127</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a66a194f783bd25e9a3b27caa260609bb">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::getPointMass</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keywordflow">return</span> (point_mass_);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;}</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a3183fdc19a64022afd1925548fe0c0ba">  134</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a3183fdc19a64022afd1925548fe0c0ba">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::compute</a> ()</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;{</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  moment_of_inertia_.clear ();</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  eccentricity_.clear ();</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordflow">if</span> (!initCompute ())</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keywordflow">if</span> (normalize_)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">if</span> (indices_-&gt;size () &gt; 0)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      point_mass_ = 1.0f / <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (indices_-&gt;size () * indices_-&gt;size ());</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      point_mass_ = 1.0f;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  computeMeanValue ();</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  Eigen::Matrix &lt;float, 3, 3&gt; covariance_matrix;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  covariance_matrix.setZero ();</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (covariance_matrix);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  computeEigenVectors (covariance_matrix, major_axis_, middle_axis_, minor_axis_, major_value_, middle_value_, minor_value_);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="keywordtype">float</span> theta = 0.0f;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">while</span> (theta &lt;= 90.0f)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordtype">float</span> phi = 0.0f;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    Eigen::Vector3f rotated_vector;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    rotateVector (major_axis_, middle_axis_, theta, rotated_vector);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">while</span> (phi &lt;= 360.0f)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      Eigen::Vector3f current_axis;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      rotateVector (rotated_vector, minor_axis_, phi, current_axis);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      current_axis.normalize ();</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="comment">//compute moment of inertia for the current axis</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">float</span> current_moment_of_inertia = calculateMomentOfInertia (current_axis, mean_value_);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      moment_of_inertia_.push_back (current_moment_of_inertia);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="comment">//compute eccentricity for the current plane</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr projected_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      getProjectedCloud (current_axis, mean_value_, projected_cloud);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      Eigen::Matrix &lt;float, 3, 3&gt; covariance_matrix;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      covariance_matrix.setZero ();</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (projected_cloud, covariance_matrix);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      projected_cloud.reset ();</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordtype">float</span> current_eccentricity = computeEccentricity (covariance_matrix, current_axis);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      eccentricity_.push_back (current_eccentricity);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      phi += step_;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    theta += step_;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  computeOBB ();</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  is_valid_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;}</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#aa71cd248a65c937f236b3e633250b6c9">  201</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aa71cd248a65c937f236b3e633250b6c9">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::getAABB</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; min_point, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; max_point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  min_point = aabb_min_point_;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  max_point = aabb_max_point_;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="keywordflow">return</span> (is_valid_);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;}</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a86e92ba5fc831ebbe4c106e1e0c60a8b">  211</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a86e92ba5fc831ebbe4c106e1e0c60a8b">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::getOBB</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; min_point, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; max_point, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; position, Eigen::Matrix3f&amp; rotational_matrix)<span class="keyword"> const</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  min_point = obb_min_point_;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  max_point = obb_max_point_;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  position.x = obb_position_ (0);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  position.y = obb_position_ (1);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  position.z = obb_position_ (2);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  rotational_matrix = obb_rotational_matrix_;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordflow">return</span> (is_valid_);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;}</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#aaad7ae0a0424c10786fc4d741336c6da">  225</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aaad7ae0a0424c10786fc4d741336c6da">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::computeOBB</a> ()</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;{</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  obb_min_point_.x = std::numeric_limits &lt;float&gt;::max ();</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  obb_min_point_.y = std::numeric_limits &lt;float&gt;::max ();</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  obb_min_point_.z = std::numeric_limits &lt;float&gt;::max ();</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  obb_max_point_.x = std::numeric_limits &lt;float&gt;::min ();</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  obb_max_point_.y = std::numeric_limits &lt;float&gt;::min ();</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  obb_max_point_.z = std::numeric_limits &lt;float&gt;::min ();</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast &lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_points; i_point++)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keywordtype">float</span> x = (input_-&gt;points[(*indices_)[i_point]].x - mean_value_ (0)) * major_axis_ (0) +</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;              (input_-&gt;points[(*indices_)[i_point]].y - mean_value_ (1)) * major_axis_ (1) +</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;              (input_-&gt;points[(*indices_)[i_point]].z - mean_value_ (2)) * major_axis_ (2);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="keywordtype">float</span> y = (input_-&gt;points[(*indices_)[i_point]].x - mean_value_ (0)) * middle_axis_ (0) +</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;              (input_-&gt;points[(*indices_)[i_point]].y - mean_value_ (1)) * middle_axis_ (1) +</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;              (input_-&gt;points[(*indices_)[i_point]].z - mean_value_ (2)) * middle_axis_ (2);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keywordtype">float</span> z = (input_-&gt;points[(*indices_)[i_point]].x - mean_value_ (0)) * minor_axis_ (0) +</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;              (input_-&gt;points[(*indices_)[i_point]].y - mean_value_ (1)) * minor_axis_ (1) +</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;              (input_-&gt;points[(*indices_)[i_point]].z - mean_value_ (2)) * minor_axis_ (2);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordflow">if</span> (x &lt;= obb_min_point_.x) obb_min_point_.x = x;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keywordflow">if</span> (y &lt;= obb_min_point_.y) obb_min_point_.y = y;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keywordflow">if</span> (z &lt;= obb_min_point_.z) obb_min_point_.z = z;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordflow">if</span> (x &gt;= obb_max_point_.x) obb_max_point_.x = x;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordflow">if</span> (y &gt;= obb_max_point_.y) obb_max_point_.y = y;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="keywordflow">if</span> (z &gt;= obb_max_point_.z) obb_max_point_.z = z;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  obb_rotational_matrix_ &lt;&lt; major_axis_ (0), middle_axis_ (0), minor_axis_ (0),</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;                            major_axis_ (1), middle_axis_ (1), minor_axis_ (1),</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                            major_axis_ (2), middle_axis_ (2), minor_axis_ (2);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  Eigen::Vector3f shift (</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    (obb_max_point_.x + obb_min_point_.x) / 2.0f,</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    (obb_max_point_.y + obb_min_point_.y) / 2.0f,</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    (obb_max_point_.z + obb_min_point_.z) / 2.0f);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  obb_min_point_.x -= shift (0);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  obb_min_point_.y -= shift (1);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  obb_min_point_.z -= shift (2);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  obb_max_point_.x -= shift (0);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  obb_max_point_.y -= shift (1);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  obb_max_point_.z -= shift (2);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  obb_position_ = mean_value_ + obb_rotational_matrix_ * shift;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;}</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a42e3704f86f836296cc0b4f1aa1daf04">  279</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a42e3704f86f836296cc0b4f1aa1daf04">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::getEigenValues</a> (<span class="keywordtype">float</span>&amp; major, <span class="keywordtype">float</span>&amp; middle, <span class="keywordtype">float</span>&amp; minor)<span class="keyword"> const</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  major = major_value_;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  middle = middle_value_;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  minor = minor_value_;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keywordflow">return</span> (is_valid_);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;}</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#afe3ee297fd25d8c62bb0311cdfd27cc4">  290</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#afe3ee297fd25d8c62bb0311cdfd27cc4">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::getEigenVectors</a> (Eigen::Vector3f&amp; major, Eigen::Vector3f&amp; middle, Eigen::Vector3f&amp; minor)<span class="keyword"> const</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  major = major_axis_;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  middle = middle_axis_;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  minor = minor_axis_;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordflow">return</span> (is_valid_);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;}</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#adfee828daeb216b0590784ff936582ca">  301</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#adfee828daeb216b0590784ff936582ca">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::getMomentOfInertia</a> (std::vector &lt;float&gt;&amp; moment_of_inertia)<span class="keyword"> const</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  moment_of_inertia.resize (moment_of_inertia_.size (), 0.0f);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  std::copy (moment_of_inertia_.begin (), moment_of_inertia_.end (), moment_of_inertia.begin ());</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <span class="keywordflow">return</span> (is_valid_);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;}</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a7fc76964931393c32661a009b5303a09">  311</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a7fc76964931393c32661a009b5303a09">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::getEccentricity</a> (std::vector &lt;float&gt;&amp; eccentricity)<span class="keyword"> const</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  eccentricity.resize (eccentricity_.size (), 0.0f);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  std::copy (eccentricity_.begin (), eccentricity_.end (), eccentricity.begin ());</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  <span class="keywordflow">return</span> (is_valid_);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;}</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#ac0ea16459352e1c6b85b8c19a95e21e9">  321</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#ac0ea16459352e1c6b85b8c19a95e21e9">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::computeMeanValue</a> ()</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;{</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  mean_value_ (0) = 0.0f;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  mean_value_ (1) = 0.0f;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  mean_value_ (2) = 0.0f;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  aabb_min_point_.x = std::numeric_limits &lt;float&gt;::max ();</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  aabb_min_point_.y = std::numeric_limits &lt;float&gt;::max ();</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  aabb_min_point_.z = std::numeric_limits &lt;float&gt;::max ();</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  aabb_max_point_.x = -std::numeric_limits &lt;float&gt;::max ();</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  aabb_max_point_.y = -std::numeric_limits &lt;float&gt;::max ();</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  aabb_max_point_.z = -std::numeric_limits &lt;float&gt;::max ();</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast &lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_points; i_point++)</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  {</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    mean_value_ (0) += input_-&gt;points[(*indices_)[i_point]].x;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    mean_value_ (1) += input_-&gt;points[(*indices_)[i_point]].y;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    mean_value_ (2) += input_-&gt;points[(*indices_)[i_point]].z;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="keywordflow">if</span> (input_-&gt;points[(*indices_)[i_point]].x &lt;= aabb_min_point_.x) aabb_min_point_.x = input_-&gt;points[(*indices_)[i_point]].x;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    <span class="keywordflow">if</span> (input_-&gt;points[(*indices_)[i_point]].y &lt;= aabb_min_point_.y) aabb_min_point_.y = input_-&gt;points[(*indices_)[i_point]].y;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    <span class="keywordflow">if</span> (input_-&gt;points[(*indices_)[i_point]].z &lt;= aabb_min_point_.z) aabb_min_point_.z = input_-&gt;points[(*indices_)[i_point]].z;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="keywordflow">if</span> (input_-&gt;points[(*indices_)[i_point]].x &gt;= aabb_max_point_.x) aabb_max_point_.x = input_-&gt;points[(*indices_)[i_point]].x;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    <span class="keywordflow">if</span> (input_-&gt;points[(*indices_)[i_point]].y &gt;= aabb_max_point_.y) aabb_max_point_.y = input_-&gt;points[(*indices_)[i_point]].y;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <span class="keywordflow">if</span> (input_-&gt;points[(*indices_)[i_point]].z &gt;= aabb_max_point_.z) aabb_max_point_.z = input_-&gt;points[(*indices_)[i_point]].z;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  }</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  <span class="keywordflow">if</span> (number_of_points == 0)</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    number_of_points = 1;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  mean_value_ (0) /= number_of_points;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  mean_value_ (1) /= number_of_points;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  mean_value_ (2) /= number_of_points;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;}</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00361"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#aaeb769520aa9ce994531d9cd03046222">  361</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aaeb769520aa9ce994531d9cd03046222">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::computeCovarianceMatrix</a> (Eigen::Matrix &lt;float, 3, 3&gt;&amp; covariance_matrix)<span class="keyword"> const</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  covariance_matrix.setZero ();</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast &lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  <span class="keywordtype">float</span> factor = 1.0f / <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((number_of_points - 1 &gt; 0)?(number_of_points - 1):1);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_points; i_point++)</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  {</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    Eigen::Vector3f current_point (0.0f, 0.0f, 0.0f);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    current_point (0) = input_-&gt;points[(*indices_)[i_point]].x - mean_value_ (0);</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    current_point (1) = input_-&gt;points[(*indices_)[i_point]].y - mean_value_ (1);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    current_point (2) = input_-&gt;points[(*indices_)[i_point]].z - mean_value_ (2);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    covariance_matrix += current_point * current_point.transpose ();</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  }</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  covariance_matrix *= factor;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;}</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00382"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#abe34d23e64591dcb215811fe837ba31b">  382</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aaeb769520aa9ce994531d9cd03046222">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::computeCovarianceMatrix</a> (PointCloudConstPtr cloud, Eigen::Matrix &lt;float, 3, 3&gt;&amp; covariance_matrix)<span class="keyword"> const</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  covariance_matrix.setZero ();</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast &lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points.size ());</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  <span class="keywordtype">float</span> factor = 1.0f / <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((number_of_points - 1 &gt; 0)?(number_of_points - 1):1);</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  Eigen::Vector3f current_point;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_points; i_point++)</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  {</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    current_point (0) = cloud-&gt;points[i_point].x - mean_value_ (0);</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    current_point (1) = cloud-&gt;points[i_point].y - mean_value_ (1);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    current_point (2) = cloud-&gt;points[i_point].z - mean_value_ (2);</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    covariance_matrix += current_point * current_point.transpose ();</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  covariance_matrix *= factor;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;}</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00403"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#aeecfa823ccbfad77cc2380b865b7d770">  403</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aeecfa823ccbfad77cc2380b865b7d770">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::computeEigenVectors</a> (<span class="keyword">const</span> Eigen::Matrix &lt;float, 3, 3&gt;&amp; covariance_matrix,</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  Eigen::Vector3f&amp; major_axis, Eigen::Vector3f&amp; middle_axis, Eigen::Vector3f&amp; minor_axis, <span class="keywordtype">float</span>&amp; major_value,</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  <span class="keywordtype">float</span>&amp; middle_value, <span class="keywordtype">float</span>&amp; minor_value)</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;{</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  Eigen::EigenSolver &lt;Eigen::Matrix &lt;float, 3, 3&gt; &gt; eigen_solver;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  eigen_solver.compute (covariance_matrix);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  Eigen::EigenSolver &lt;Eigen::Matrix &lt;float, 3, 3&gt; &gt;::EigenvectorsType eigen_vectors;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  Eigen::EigenSolver &lt;Eigen::Matrix &lt;float, 3, 3&gt; &gt;::EigenvalueType eigen_values;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  eigen_vectors = eigen_solver.eigenvectors ();</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  eigen_values = eigen_solver.eigenvalues ();</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> temp = 0;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> major_index = 0;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> middle_index = 1;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minor_index = 2;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  <span class="keywordflow">if</span> (eigen_values.real () (major_index) &lt; eigen_values.real () (middle_index))</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  {</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    temp = major_index;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    major_index = middle_index;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    middle_index = temp;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  <span class="keywordflow">if</span> (eigen_values.real () (major_index) &lt; eigen_values.real () (minor_index))</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  {</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    temp = major_index;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    major_index = minor_index;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    minor_index = temp;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  }</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;  <span class="keywordflow">if</span> (eigen_values.real () (middle_index) &lt; eigen_values.real () (minor_index))</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  {</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    temp = minor_index;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    minor_index = middle_index;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    middle_index = temp;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  }</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  major_value = eigen_values.real () (major_index);</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  middle_value = eigen_values.real () (middle_index);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  minor_value = eigen_values.real () (minor_index);</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  major_axis = eigen_vectors.col (major_index).real ();</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  middle_axis = eigen_vectors.col (middle_index).real ();</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  minor_axis = eigen_vectors.col (minor_index).real ();</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  major_axis.normalize ();</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  middle_axis.normalize ();</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  minor_axis.normalize ();</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  <span class="keywordtype">float</span> det = major_axis.dot (middle_axis.cross (minor_axis));</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  <span class="keywordflow">if</span> (det &lt;= 0.0f)</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  {</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    major_axis (0) = -major_axis (0);</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    major_axis (1) = -major_axis (1);</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    major_axis (2) = -major_axis (2);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;  }</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;}</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00464"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a81d387c915a945faaf06b9d079366ec7">  464</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a81d387c915a945faaf06b9d079366ec7">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::rotateVector</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; vector, <span class="keyword">const</span> Eigen::Vector3f&amp; axis, <span class="keyword">const</span> <span class="keywordtype">float</span> angle, Eigen::Vector3f&amp; rotated_vector)<span class="keyword"> const</span></div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  Eigen::Matrix &lt;float, 3, 3&gt; rotation_matrix;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> x = axis (0);</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> y = axis (1);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> z = axis (2);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> rad = M_PI / 180.0f;</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> cosine = cos (angle * rad);</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> sine = sin (angle * rad);</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  rotation_matrix &lt;&lt; cosine + (1 - cosine) * x * x,      (1 - cosine) * x * y - sine * z,    (1 - cosine) * x * z + sine * y,</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;                     (1 - cosine) * y * x + sine * z,    cosine + (1 - cosine) * y * y,      (1 - cosine) * y * z - sine * x,</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;                     (1 - cosine) * z * x - sine * y,    (1 - cosine) * z * y + sine * x,    cosine + (1 - cosine) * z * z;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  rotated_vector = rotation_matrix * vector;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;}</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00482"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a4df0cc47393a58f6e7298acd051694b7">  482</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a4df0cc47393a58f6e7298acd051694b7">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::calculateMomentOfInertia</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; current_axis, <span class="keyword">const</span> Eigen::Vector3f&amp; mean_value)<span class="keyword"> const</span></div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;  <span class="keywordtype">float</span> moment_of_inertia = 0.0f;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast &lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_points; i_point++)</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  {</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;    Eigen::Vector3f vector;</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    vector (0) = mean_value (0) - input_-&gt;points[(*indices_)[i_point]].x;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    vector (1) = mean_value (1) - input_-&gt;points[(*indices_)[i_point]].y;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    vector (2) = mean_value (2) - input_-&gt;points[(*indices_)[i_point]].z;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    Eigen::Vector3f product = vector.cross (current_axis);</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160; </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="keywordtype">float</span> distance = product (0) * product (0) + product (1) * product (1) + product (2) * product (2);</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    moment_of_inertia += distance;</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  }</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  <span class="keywordflow">return</span> (point_mass_ * moment_of_inertia);</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;}</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160; </div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00505"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#ad3eefe58b4467a6fe61a3d892a6f9089">  505</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#ad3eefe58b4467a6fe61a3d892a6f9089">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::getProjectedCloud</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; normal_vector, <span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keyword">typename</span> pcl::PointCloud &lt;PointT&gt;::Ptr projected_cloud)<span class="keyword"> const</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> D = - normal_vector.dot (point);</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast &lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  projected_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (number_of_points, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> ());</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_points; i_point++)</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  {</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index = (*indices_)[i_point];</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;    <span class="keywordtype">float</span> K = - (D + normal_vector (0) * input_-&gt;points[index].x + normal_vector (1) * input_-&gt;points[index].y + normal_vector (2) * input_-&gt;points[index].z);</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> projected_point;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    projected_point.x = input_-&gt;points[index].x + K * normal_vector (0);</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;    projected_point.y = input_-&gt;points[index].y + K * normal_vector (1);</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;    projected_point.z = input_-&gt;points[index].z + K * normal_vector (2);</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    projected_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i_point] = projected_point;</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  }</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;  projected_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = number_of_points;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  projected_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;  projected_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> = input_-&gt;header;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;}</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00529"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a99ac573a0ad71bfaffa08b1a82866e6d">  529</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a99ac573a0ad71bfaffa08b1a82866e6d">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::computeEccentricity</a> (<span class="keyword">const</span> Eigen::Matrix &lt;float, 3, 3&gt;&amp; covariance_matrix, <span class="keyword">const</span> Eigen::Vector3f&amp; normal_vector)</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;{</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;  Eigen::Vector3f major_axis (0.0f, 0.0f, 0.0f);</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;  Eigen::Vector3f middle_axis (0.0f, 0.0f, 0.0f);</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;  Eigen::Vector3f minor_axis (0.0f, 0.0f, 0.0f);</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;  <span class="keywordtype">float</span> major_value = 0.0f;</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;  <span class="keywordtype">float</span> middle_value = 0.0f;</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;  <span class="keywordtype">float</span> minor_value = 0.0f;</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  computeEigenVectors (covariance_matrix, major_axis, middle_axis, minor_axis, major_value, middle_value, minor_value);</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160; </div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  <span class="keywordtype">float</span> major = std::abs (major_axis.dot (normal_vector));</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  <span class="keywordtype">float</span> middle = std::abs (middle_axis.dot (normal_vector));</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;  <span class="keywordtype">float</span> minor = std::abs (minor_axis.dot (normal_vector));</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  <span class="keywordtype">float</span> eccentricity = 0.0f;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;  <span class="keywordflow">if</span> (major &gt;= middle &amp;&amp; major &gt;= minor &amp;&amp; middle_value != 0.0f)</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;    eccentricity = pow (1.0f - (minor_value * minor_value) / (middle_value * middle_value), 0.5f);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160; </div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  <span class="keywordflow">if</span> (middle &gt;= major &amp;&amp; middle &gt;= minor &amp;&amp; major_value != 0.0f)</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;    eccentricity = pow (1.0f - (minor_value * minor_value) / (major_value * major_value), 0.5f);</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160; </div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  <span class="keywordflow">if</span> (minor &gt;= major &amp;&amp; minor &gt;= middle &amp;&amp; major_value != 0.0f)</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;    eccentricity = pow (1.0f - (middle_value * middle_value) / (major_value * major_value), 0.5f);</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160; </div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;  <span class="keywordflow">return</span> (eccentricity);</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;}</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160; </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00559"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#ab21c613778ad9199790079d7491bd030">  559</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#ab21c613778ad9199790079d7491bd030">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::getMassCenter</a> (Eigen::Vector3f&amp; mass_center)<span class="keyword"> const</span></div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  mass_center = mean_value_;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  <span class="keywordflow">return</span> (is_valid_);</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;}</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160; </div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00568"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#abd6a71e7c5335c7571dec423283317a1">  568</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#abd6a71e7c5335c7571dec423283317a1">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr&amp; cloud)</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;{</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  input_ = cloud;</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160; </div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  is_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;}</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160; </div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00577"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#abf6953c283561f30f4339698807054b1">  577</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#abf6953c283561f30f4339698807054b1">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::setIndices</a> (<span class="keyword">const</span> IndicesPtr&amp; indices)</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;{</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  indices_ = indices;</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  fake_indices_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;  use_indices_  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160; </div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  is_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;}</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160; </div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00588"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#ac073db4f8d28516ff2489cbd3d7ea8f9">  588</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#abf6953c283561f30f4339698807054b1">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::setIndices</a> (<span class="keyword">const</span> IndicesConstPtr&amp; indices)</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;{</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;  indices_.reset (<span class="keyword">new</span> std::vector&lt;int&gt; (*indices));</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  fake_indices_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  use_indices_  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160; </div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;  is_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;}</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160; </div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00599"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a93e210dc24f0ced029ff2fb7b7e2b645">  599</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#abf6953c283561f30f4339698807054b1">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::setIndices</a> (<span class="keyword">const</span> PointIndicesConstPtr&amp; indices)</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;{</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  indices_.reset (<span class="keyword">new</span> std::vector&lt;int&gt; (indices-&gt;indices));</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  fake_indices_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  use_indices_  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160; </div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;  is_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;}</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160; </div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00610"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#abefbf08dfcfcac1b0aa0e5b09fe92c9e">  610</a></span>&#160;<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#abf6953c283561f30f4339698807054b1">pcl::MomentOfInertiaEstimation&lt;PointT&gt;::setIndices</a> (<span class="keywordtype">size_t</span> row_start, <span class="keywordtype">size_t</span> col_start, <span class="keywordtype">size_t</span> nb_rows, <span class="keywordtype">size_t</span> nb_cols)</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;{</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;  <span class="keywordflow">if</span> ((nb_rows &gt; input_-&gt;height) || (row_start &gt; input_-&gt;height))</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  {</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] cloud is only %d height&quot;</span>, input_-&gt;height);</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;  }</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160; </div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  <span class="keywordflow">if</span> ((nb_cols &gt; input_-&gt;width) || (col_start &gt; input_-&gt;width))</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;  {</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] cloud is only %d width&quot;</span>, input_-&gt;width);</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;  }</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160; </div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;  <span class="keywordtype">size_t</span> row_end = row_start + nb_rows;</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;  <span class="keywordflow">if</span> (row_end &gt; input_-&gt;height)</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  {</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] %d is out of rows range %d&quot;</span>, row_end, input_-&gt;height);</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;  }</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160; </div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;  <span class="keywordtype">size_t</span> col_end = col_start + nb_cols;</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;  <span class="keywordflow">if</span> (col_end &gt; input_-&gt;width)</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  {</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] %d is out of columns range %d&quot;</span>, col_end, input_-&gt;width);</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;  }</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160; </div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;  indices_.reset (<span class="keyword">new</span> std::vector&lt;int&gt;);</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;  indices_-&gt;reserve (nb_cols * nb_rows);</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = row_start; i &lt; row_end; i++)</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> j = col_start; j &lt; col_end; j++)</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;      indices_-&gt;push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((i * input_-&gt;width) + j));</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;  fake_indices_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;  use_indices_  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160; </div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;  is_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;}</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160; </div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_MOMENT_OF_INERTIA_ESTIMATION_HPP_</span></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a0625af4e2c78edf76dda829dcea53ff5"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a0625af4e2c78edf76dda829dcea53ff5">pcl::MomentOfInertiaEstimation::getAngleStep</a></div><div class="ttdeci">float getAngleStep() const</div><div class="ttdoc">Returns the angle step.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:92</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a3183fdc19a64022afd1925548fe0c0ba"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a3183fdc19a64022afd1925548fe0c0ba">pcl::MomentOfInertiaEstimation::compute</a></div><div class="ttdeci">void compute()</div><div class="ttdoc">This method launches the computation of all features. After execution it sets is_valid_ flag to true ...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:134</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a42e3704f86f836296cc0b4f1aa1daf04"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a42e3704f86f836296cc0b4f1aa1daf04">pcl::MomentOfInertiaEstimation::getEigenValues</a></div><div class="ttdeci">bool getEigenValues(float &amp;major, float &amp;middle, float &amp;minor) const</div><div class="ttdoc">This method gives access to the computed eigen values. It returns true if the current values (eccentr...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:279</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a4df0cc47393a58f6e7298acd051694b7"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a4df0cc47393a58f6e7298acd051694b7">pcl::MomentOfInertiaEstimation::calculateMomentOfInertia</a></div><div class="ttdeci">float calculateMomentOfInertia(const Eigen::Vector3f &amp;current_axis, const Eigen::Vector3f &amp;mean_value) const</div><div class="ttdoc">This method returns the moment of inertia of a given input_ cloud. Note that when moment of inertia i...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:482</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a66a194f783bd25e9a3b27caa260609bb"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a66a194f783bd25e9a3b27caa260609bb">pcl::MomentOfInertiaEstimation::getPointMass</a></div><div class="ttdeci">float getPointMass() const</div><div class="ttdoc">Returns the mass of point.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:127</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a79cd4a694ed5c338a9b182d2d821e695"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a79cd4a694ed5c338a9b182d2d821e695">pcl::MomentOfInertiaEstimation::~MomentOfInertiaEstimation</a></div><div class="ttdeci">virtual ~MomentOfInertiaEstimation()</div><div class="ttdoc">Virtual destructor which frees the memory.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:72</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a7fc76964931393c32661a009b5303a09"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a7fc76964931393c32661a009b5303a09">pcl::MomentOfInertiaEstimation::getEccentricity</a></div><div class="ttdeci">bool getEccentricity(std::vector&lt; float &gt; &amp;eccentricity) const</div><div class="ttdoc">This method gives access to the computed ecentricities. It returns true if the current values (eccent...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:311</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a81d387c915a945faaf06b9d079366ec7"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a81d387c915a945faaf06b9d079366ec7">pcl::MomentOfInertiaEstimation::rotateVector</a></div><div class="ttdeci">void rotateVector(const Eigen::Vector3f &amp;vector, const Eigen::Vector3f &amp;axis, const float angle, Eigen::Vector3f &amp;rotated_vector) const</div><div class="ttdoc">This method rotates the given vector around the given axis.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:464</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a86e92ba5fc831ebbe4c106e1e0c60a8b"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a86e92ba5fc831ebbe4c106e1e0c60a8b">pcl::MomentOfInertiaEstimation::getOBB</a></div><div class="ttdeci">bool getOBB(PointT &amp;min_point, PointT &amp;max_point, PointT &amp;position, Eigen::Matrix3f &amp;rotational_matrix) const</div><div class="ttdoc">This method gives access to the computed oriented bounding box. It returns true if the current values...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:211</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a99ac573a0ad71bfaffa08b1a82866e6d"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a99ac573a0ad71bfaffa08b1a82866e6d">pcl::MomentOfInertiaEstimation::computeEccentricity</a></div><div class="ttdeci">float computeEccentricity(const Eigen::Matrix&lt; float, 3, 3 &gt; &amp;covariance_matrix, const Eigen::Vector3f &amp;normal_vector)</div><div class="ttdoc">This method returns the eccentricity of the projected cloud.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:529</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a9d824622d848378fe608c2a0563f07ad"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a9d824622d848378fe608c2a0563f07ad">pcl::MomentOfInertiaEstimation::getNormalizePointMassFlag</a></div><div class="ttdeci">bool getNormalizePointMassFlag() const</div><div class="ttdoc">Returns the normalize_ flag.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:108</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_aa71cd248a65c937f236b3e633250b6c9"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#aa71cd248a65c937f236b3e633250b6c9">pcl::MomentOfInertiaEstimation::getAABB</a></div><div class="ttdeci">bool getAABB(PointT &amp;min_point, PointT &amp;max_point) const</div><div class="ttdoc">This method gives access to the computed axis aligned bounding box. It returns true if the current va...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:201</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_aa9149b19d2ffaac9926db2d0f48cff30"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#aa9149b19d2ffaac9926db2d0f48cff30">pcl::MomentOfInertiaEstimation::setNormalizePointMassFlag</a></div><div class="ttdeci">void setNormalizePointMassFlag(bool need_to_normalize)</div><div class="ttdoc">This method allows to set the normalize_ flag. If set to false, then point_mass_ will be used to scal...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:99</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_aaa915646af4de7b704bd227c3374f0b3"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#aaa915646af4de7b704bd227c3374f0b3">pcl::MomentOfInertiaEstimation::setPointMass</a></div><div class="ttdeci">void setPointMass(const float point_mass)</div><div class="ttdoc">This method allows to set point mass that will be used for moment of inertia calculation....</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:115</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_aaad7ae0a0424c10786fc4d741336c6da"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#aaad7ae0a0424c10786fc4d741336c6da">pcl::MomentOfInertiaEstimation::computeOBB</a></div><div class="ttdeci">void computeOBB()</div><div class="ttdoc">This method computes the oriented bounding box.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:225</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_aac2fd81cbf6eb02d5f1e1f462d640c6c"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#aac2fd81cbf6eb02d5f1e1f462d640c6c">pcl::MomentOfInertiaEstimation::setAngleStep</a></div><div class="ttdeci">void setAngleStep(const float step)</div><div class="ttdoc">This method allows to set the angle step. It is used for the rotation of the axis which is used for m...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:80</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_aaeb769520aa9ce994531d9cd03046222"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#aaeb769520aa9ce994531d9cd03046222">pcl::MomentOfInertiaEstimation::computeCovarianceMatrix</a></div><div class="ttdeci">void computeCovarianceMatrix(Eigen::Matrix&lt; float, 3, 3 &gt; &amp;covariance_matrix) const</div><div class="ttdoc">This method computes the covariance matrix for the input_ cloud.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:361</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_ab15683239a2e14b2f230782b0db1a8d1"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#ab15683239a2e14b2f230782b0db1a8d1">pcl::MomentOfInertiaEstimation::MomentOfInertiaEstimation</a></div><div class="ttdeci">MomentOfInertiaEstimation()</div><div class="ttdoc">Constructor that sets default values for member variables.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_ab21c613778ad9199790079d7491bd030"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#ab21c613778ad9199790079d7491bd030">pcl::MomentOfInertiaEstimation::getMassCenter</a></div><div class="ttdeci">bool getMassCenter(Eigen::Vector3f &amp;mass_center) const</div><div class="ttdoc">This method gives access to the computed mass center. It returns true if the current values (eccentri...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:559</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_abd6a71e7c5335c7571dec423283317a1"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#abd6a71e7c5335c7571dec423283317a1">pcl::MomentOfInertiaEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:568</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_abf6953c283561f30f4339698807054b1"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#abf6953c283561f30f4339698807054b1">pcl::MomentOfInertiaEstimation::setIndices</a></div><div class="ttdeci">virtual void setIndices(const IndicesPtr &amp;indices)</div><div class="ttdoc">Provide a pointer to the vector of indices that represents the input data.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:577</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_ac0ea16459352e1c6b85b8c19a95e21e9"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#ac0ea16459352e1c6b85b8c19a95e21e9">pcl::MomentOfInertiaEstimation::computeMeanValue</a></div><div class="ttdeci">void computeMeanValue()</div><div class="ttdoc">This method computes center of mass and axis aligned bounding box.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:321</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_ad3eefe58b4467a6fe61a3d892a6f9089"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#ad3eefe58b4467a6fe61a3d892a6f9089">pcl::MomentOfInertiaEstimation::getProjectedCloud</a></div><div class="ttdeci">void getProjectedCloud(const Eigen::Vector3f &amp;normal_vector, const Eigen::Vector3f &amp;point, typename pcl::PointCloud&lt; PointT &gt;::Ptr projected_cloud) const</div><div class="ttdoc">This method simply projects the given input_ cloud on the plane specified with the normal vector.</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:505</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_adfee828daeb216b0590784ff936582ca"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#adfee828daeb216b0590784ff936582ca">pcl::MomentOfInertiaEstimation::getMomentOfInertia</a></div><div class="ttdeci">bool getMomentOfInertia(std::vector&lt; float &gt; &amp;moment_of_inertia) const</div><div class="ttdoc">This method gives access to the computed moments of inertia. It returns true if the current values (e...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:301</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_aeecfa823ccbfad77cc2380b865b7d770"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#aeecfa823ccbfad77cc2380b865b7d770">pcl::MomentOfInertiaEstimation::computeEigenVectors</a></div><div class="ttdeci">void computeEigenVectors(const Eigen::Matrix&lt; float, 3, 3 &gt; &amp;covariance_matrix, Eigen::Vector3f &amp;major_axis, Eigen::Vector3f &amp;middle_axis, Eigen::Vector3f &amp;minor_axis, float &amp;major_value, float &amp;middle_value, float &amp;minor_value)</div><div class="ttdoc">This method calculates the eigen values and eigen vectors for the given covariance matrix....</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:403</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_afe3ee297fd25d8c62bb0311cdfd27cc4"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#afe3ee297fd25d8c62bb0311cdfd27cc4">pcl::MomentOfInertiaEstimation::getEigenVectors</a></div><div class="ttdeci">bool getEigenVectors(Eigen::Vector3f &amp;major, Eigen::Vector3f &amp;middle, Eigen::Vector3f &amp;minor) const</div><div class="ttdoc">This method gives access to the computed eigen vectors. It returns true if the current values (eccent...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.hpp:290</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="agroup__common_html_gac36b146ec26b1ceb7be43a9ecaa010c4"><div class="ttname"><a href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix)</div><div class="ttdoc">Compute the 3x3 covariance matrix of a given set of points. The result is returned as a Eigen::Matrix...</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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